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<div class="title">estimate_propagator.h</div>  </div>
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<a href="estimate__propagator_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_ESTIMATE_PROPAGATOR_H</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_ESTIMATE_PROPAGATOR_H</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="optimizable__graph_8h.html">optimizable_graph.h</a>&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="sparse__optimizer_8h.html">sparse_optimizer.h</a>&quot;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &lt;set&gt;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &lt;limits&gt;</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#ifdef _MSC_VER</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &lt;unordered_map&gt;</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;tr1/unordered_map&gt;</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classg2o_1_1_estimate_propagator_cost.html">   50</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_estimate_propagator_cost.html">EstimatePropagatorCost</a> {</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;      <a class="code" href="classg2o_1_1_estimate_propagator_cost.html#aebd56e3597a99b225bc3799ec8145bc9">EstimatePropagatorCost</a> (<a class="code" href="classg2o_1_1_sparse_optimizer.html">SparseOptimizer</a>* graph);</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_estimate_propagator_cost.html#a1234b3b82be9b8448cc62b18625adfa6">operator()</a>(<a class="code" href="classg2o_1_1_optimizable_graph_1_1_edge.html">OptimizableGraph::Edge</a>* edge, <span class="keyword">const</span> <a class="code" href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">OptimizableGraph::VertexSet</a>&amp; from, <a class="code" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">OptimizableGraph::Vertex</a>* to_) <span class="keyword">const</span>;</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classg2o_1_1_estimate_propagator_cost.html#a49846dd23f5d49df6e1fc5c2ff854fca">   54</a></span>&#160;      <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">char</span>* <a class="code" href="classg2o_1_1_estimate_propagator_cost.html#a49846dd23f5d49df6e1fc5c2ff854fca">name</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="stringliteral">&quot;spanning tree&quot;</span>;}</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classg2o_1_1_estimate_propagator_cost.html#adf778ed8de5b54eb934e88107fe77980">   56</a></span>&#160;      <a class="code" href="classg2o_1_1_sparse_optimizer.html">SparseOptimizer</a>* <a class="code" href="classg2o_1_1_estimate_propagator_cost.html#adf778ed8de5b54eb934e88107fe77980">_graph</a>;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  };</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classg2o_1_1_estimate_propagator_cost_odometry.html">   65</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_estimate_propagator_cost_odometry.html">EstimatePropagatorCostOdometry</a> : <span class="keyword">public</span> <a class="code" href="classg2o_1_1_estimate_propagator_cost.html">EstimatePropagatorCost</a> {</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <a class="code" href="classg2o_1_1_estimate_propagator_cost_odometry.html">EstimatePropagatorCostOdometry</a>(<a class="code" href="classg2o_1_1_sparse_optimizer.html">SparseOptimizer</a>* graph);</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_estimate_propagator_cost.html#a1234b3b82be9b8448cc62b18625adfa6">operator()</a>(<a class="code" href="classg2o_1_1_optimizable_graph_1_1_edge.html">OptimizableGraph::Edge</a>* edge, <span class="keyword">const</span> <a class="code" href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">OptimizableGraph::VertexSet</a>&amp; from_, <a class="code" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">OptimizableGraph::Vertex</a>* to_) <span class="keyword">const</span>;</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classg2o_1_1_estimate_propagator_cost_odometry.html#a6e610e7413e8973453943c5b4b9423aa">   69</a></span>&#160;      <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">char</span>* <a class="code" href="classg2o_1_1_estimate_propagator_cost_odometry.html#a6e610e7413e8973453943c5b4b9423aa">name</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="stringliteral">&quot;odometry&quot;</span>;}</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  };</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classg2o_1_1_estimate_propagator.html">   75</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_estimate_propagator.html">EstimatePropagator</a> {</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="structg2o_1_1_estimate_propagator_1_1_propagate_action.html">   83</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structg2o_1_1_estimate_propagator_1_1_propagate_action.html">PropagateAction</a> {</div><div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="structg2o_1_1_estimate_propagator_1_1_propagate_action.html#a4d101e9ee3f96e29d7cd0cd7bca1b656">   84</a></span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="structg2o_1_1_estimate_propagator_1_1_propagate_action.html#a4d101e9ee3f96e29d7cd0cd7bca1b656">operator()</a>(<a class="code" href="classg2o_1_1_optimizable_graph_1_1_edge.html">OptimizableGraph::Edge</a>* e, <span class="keyword">const</span> <a class="code" href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">OptimizableGraph::VertexSet</a>&amp; from, <a class="code" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">OptimizableGraph::Vertex</a>* to)<span class="keyword"> const</span></div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="keyword">        </span>{</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          <span class="keywordflow">if</span> (! to-&gt;<a class="code" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a97294e6a1a573a44fe82ba36fc52c619">fixed</a>())</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;            e-&gt;<a class="code" href="classg2o_1_1_optimizable_graph_1_1_edge.html#a9519f8892e97f03daacb44ea50ac7f4e">initialEstimate</a>(from, to);</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        }</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      };</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classg2o_1_1_estimate_propagator.html#a67a42f9c6d5f92562ac4ea12f81c8d9c">   91</a></span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classg2o_1_1_estimate_propagator_cost.html">EstimatePropagatorCost</a> <a class="code" href="classg2o_1_1_estimate_propagator.html#a67a42f9c6d5f92562ac4ea12f81c8d9c">PropagateCost</a>;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keyword">class </span><a class="code" href="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry.html">AdjacencyMapEntry</a>;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classg2o_1_1_estimate_propagator_1_1_priority_queue.html">   98</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classg2o_1_1_estimate_propagator_1_1_priority_queue.html">PriorityQueue</a> : <span class="keyword">public</span> std::multimap&lt;double, AdjacencyMapEntry*&gt; {</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keyword">public</span>:</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;          <span class="keywordtype">void</span> push(<a class="code" href="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry.html">AdjacencyMapEntry</a>* entry);</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; 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     <a class="code" href="structg2o_1_1_optimizable_graph.html">OptimizableGraph</a>* <a class="code" href="classg2o_1_1_estimate_propagator.html#ac2dcd3169696692ce3f0679235933e8a">_graph</a>;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  };</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;}</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_estimate_propagator_cost_html_adf778ed8de5b54eb934e88107fe77980"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_cost.html#adf778ed8de5b54eb934e88107fe77980">g2o::EstimatePropagatorCost::_graph</a></div><div class="ttdeci">SparseOptimizer * _graph</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:56</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_html_ac3f6429938db62696444fd7ee765439a"><div class="ttname"><a href="classg2o_1_1_estimate_propagator.html#ac3f6429938db62696444fd7ee765439a">g2o::EstimatePropagator::_adjacencyMap</a></div><div class="ttdeci">AdjacencyMap _adjacencyMap</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:169</div></div>
<div class="ttc" id="structg2o_1_1_estimate_propagator_1_1_propagate_action_html_a4d101e9ee3f96e29d7cd0cd7bca1b656"><div class="ttname"><a href="structg2o_1_1_estimate_propagator_1_1_propagate_action.html#a4d101e9ee3f96e29d7cd0cd7bca1b656">g2o::EstimatePropagator::PropagateAction::operator()</a></div><div class="ttdeci">virtual void operator()(OptimizableGraph::Edge *e, const OptimizableGraph::VertexSet &amp;from, OptimizableGraph::Vertex *to) const</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:84</div></div>
<div class="ttc" id="classg2o_1_1_optimizable_graph_1_1_vertex_html"><div class="ttname"><a href="classg2o_1_1_optimizable_graph_1_1_vertex.html">g2o::OptimizableGraph::Vertex</a></div><div class="ttdoc">A general case Vertex for optimization. </div><div class="ttdef"><b>Definition:</b> optimizable_graph.h:127</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_cost_html_a1234b3b82be9b8448cc62b18625adfa6"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_cost.html#a1234b3b82be9b8448cc62b18625adfa6">g2o::EstimatePropagatorCost::operator()</a></div><div class="ttdeci">virtual double operator()(OptimizableGraph::Edge *edge, const OptimizableGraph::VertexSet &amp;from, OptimizableGraph::Vertex *to_) const</div><div class="ttdef"><b>Definition:</b> estimate_propagator.cpp:239</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html">g2o::SparseOptimizer</a></div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:45</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry_html_a40828826b865378855fdc26fae46af11"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry.html#a40828826b865378855fdc26fae46af11">g2o::EstimatePropagator::AdjacencyMapEntry::queueIt</a></div><div class="ttdeci">PriorityQueue::iterator queueIt</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:127</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_html_a97064a86789b496b590f4848fdb59bc8"><div class="ttname"><a href="classg2o_1_1_estimate_propagator.html#a97064a86789b496b590f4848fdb59bc8">g2o::EstimatePropagator::graph</a></div><div class="ttdeci">OptimizableGraph * graph()</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:144</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a703938cdb4bb636860eed55a2489d70c"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">g2o::HyperGraph::VertexSet</a></div><div class="ttdeci">std::set&lt; Vertex * &gt; VertexSet</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:91</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry_html_a72384502361d60e1f3ae1644de1e7379"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry.html#a72384502361d60e1f3ae1644de1e7379">g2o::EstimatePropagator::AdjacencyMapEntry::_parent</a></div><div class="ttdeci">OptimizableGraph::VertexSet _parent</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:121</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry_html_ab6f716e85cc15e6d9c570132fe889fd6"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry.html#ab6f716e85cc15e6d9c570132fe889fd6">g2o::EstimatePropagator::AdjacencyMapEntry::_child</a></div><div class="ttdeci">OptimizableGraph::Vertex * _child</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:120</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry_html"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry.html">g2o::EstimatePropagator::AdjacencyMapEntry</a></div><div class="ttdoc">data structure for loopuk during Dijkstra </div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:107</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry_html_a4e31105d4e88c399ec95aa6c184b649e"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry.html#a4e31105d4e88c399ec95aa6c184b649e">g2o::EstimatePropagator::AdjacencyMapEntry::child</a></div><div class="ttdeci">OptimizableGraph::Vertex * child() const</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:113</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_cost_html_aebd56e3597a99b225bc3799ec8145bc9"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_cost.html#aebd56e3597a99b225bc3799ec8145bc9">g2o::EstimatePropagatorCost::EstimatePropagatorCost</a></div><div class="ttdeci">EstimatePropagatorCost(SparseOptimizer *graph)</div><div class="ttdef"><b>Definition:</b> estimate_propagator.cpp:234</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_html_aa450038ec206c089ecf023cb88cb2847"><div class="ttname"><a href="classg2o_1_1_estimate_propagator.html#aa450038ec206c089ecf023cb88cb2847">g2o::EstimatePropagator::AdjacencyMap</a></div><div class="ttdeci">std::tr1::unordered_map&lt; OptimizableGraph::Vertex *, AdjacencyMapEntry, VertexIDHashFunction &gt; AdjacencyMap</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:138</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry_html_a291b75bdb7c37467a6d4e7e7d839e0fc"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry.html#a291b75bdb7c37467a6d4e7e7d839e0fc">g2o::EstimatePropagator::AdjacencyMapEntry::frontierLevel</a></div><div class="ttdeci">int frontierLevel() const</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:117</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry_html_a738795d0b3989374ba51821354629d64"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry.html#a738795d0b3989374ba51821354629d64">g2o::EstimatePropagator::AdjacencyMapEntry::_edge</a></div><div class="ttdeci">OptimizableGraph::Edge * _edge</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:122</div></div>
<div class="ttc" id="structg2o_1_1_estimate_propagator_1_1_propagate_action_html"><div class="ttname"><a href="structg2o_1_1_estimate_propagator_1_1_propagate_action.html">g2o::EstimatePropagator::PropagateAction</a></div><div class="ttdoc">Applying the action for propagating. </div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:83</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry_html_a56bfab4074fa692f03378526007758f7"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry.html#a56bfab4074fa692f03378526007758f7">g2o::EstimatePropagator::AdjacencyMapEntry::_frontierLevel</a></div><div class="ttdeci">int _frontierLevel</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:124</div></div>
<div class="ttc" id="classg2o_1_1_optimizable_graph_1_1_vertex_html_a97294e6a1a573a44fe82ba36fc52c619"><div class="ttname"><a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a97294e6a1a573a44fe82ba36fc52c619">g2o::OptimizableGraph::Vertex::fixed</a></div><div class="ttdeci">bool fixed() const</div><div class="ttdoc">true =&gt; this node is fixed during the optimization </div><div class="ttdef"><b>Definition:</b> optimizable_graph.h:305</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry_html_a6697b7728a51b80663f843daba54e2d8"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry.html#a6697b7728a51b80663f843daba54e2d8">g2o::EstimatePropagator::AdjacencyMapEntry::inQueue</a></div><div class="ttdeci">bool inQueue</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:126</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="sparse__optimizer_8h_html"><div class="ttname"><a href="sparse__optimizer_8h.html">sparse_optimizer.h</a></div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_html_a2d346a2411d969caa81817c15052cd58"><div class="ttname"><a href="classg2o_1_1_estimate_propagator.html#a2d346a2411d969caa81817c15052cd58">g2o::EstimatePropagator::visited</a></div><div class="ttdeci">OptimizableGraph::VertexSet &amp; visited()</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:142</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_html_a67a42f9c6d5f92562ac4ea12f81c8d9c"><div class="ttname"><a href="classg2o_1_1_estimate_propagator.html#a67a42f9c6d5f92562ac4ea12f81c8d9c">g2o::EstimatePropagator::PropagateCost</a></div><div class="ttdeci">EstimatePropagatorCost PropagateCost</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:91</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_html_a1256927d6d1832ee300daa53d1c845a2"><div class="ttname"><a href="classg2o_1_1_estimate_propagator.html#a1256927d6d1832ee300daa53d1c845a2">g2o::EstimatePropagator::_visited</a></div><div class="ttdeci">OptimizableGraph::VertexSet _visited</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:170</div></div>
<div class="ttc" id="classg2o_1_1_optimizable_graph_1_1_edge_html"><div class="ttname"><a href="classg2o_1_1_optimizable_graph_1_1_edge.html">g2o::OptimizableGraph::Edge</a></div><div class="ttdef"><b>Definition:</b> optimizable_graph.h:382</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_1_1_priority_queue_html"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_1_1_priority_queue.html">g2o::EstimatePropagator::PriorityQueue</a></div><div class="ttdoc">priority queue for AdjacencyMapEntry </div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:98</div></div>
<div class="ttc" id="optimizable__graph_8h_html"><div class="ttname"><a href="optimizable__graph_8h.html">optimizable_graph.h</a></div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_cost_html"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_cost.html">g2o::EstimatePropagatorCost</a></div><div class="ttdoc">cost for traversing along active edges in the optimizer </div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:50</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_1_1_vertex_i_d_hash_function_html"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_1_1_vertex_i_d_hash_function.html">g2o::EstimatePropagator::VertexIDHashFunction</a></div><div class="ttdoc">hash function for a vertex </div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:133</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry_html_afdc412171a1828e9d588f587ba27f7aa"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry.html#afdc412171a1828e9d588f587ba27f7aa">g2o::EstimatePropagator::AdjacencyMapEntry::parent</a></div><div class="ttdeci">const OptimizableGraph::VertexSet &amp; parent() const</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:114</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry_html_a6a7bbf0ae959ece486cea3549dec5c0a"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry.html#a6a7bbf0ae959ece486cea3549dec5c0a">g2o::EstimatePropagator::AdjacencyMapEntry::distance</a></div><div class="ttdeci">double distance() const</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:116</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_cost_odometry_html"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_cost_odometry.html">g2o::EstimatePropagatorCostOdometry</a></div><div class="ttdoc">cost for traversing only odometry edges. </div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:65</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_html_ad6dc3d18c4057915af4cc4986b568855"><div class="ttname"><a href="classg2o_1_1_estimate_propagator.html#ad6dc3d18c4057915af4cc4986b568855">g2o::EstimatePropagator::adjacencyMap</a></div><div class="ttdeci">AdjacencyMap &amp; adjacencyMap()</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:143</div></div>
<div class="ttc" id="classg2o_1_1_optimizable_graph_1_1_edge_html_a9519f8892e97f03daacb44ea50ac7f4e"><div class="ttname"><a href="classg2o_1_1_optimizable_graph_1_1_edge.html#a9519f8892e97f03daacb44ea50ac7f4e">g2o::OptimizableGraph::Edge::initialEstimate</a></div><div class="ttdeci">virtual void initialEstimate(const OptimizableGraph::VertexSet &amp;from, OptimizableGraph::Vertex *to)=0</div><div class="ttdoc">set the estimate of the to vertex, based on the estimate of the from vertices in the edge...</div></div>
<div class="ttc" id="structg2o_1_1_optimizable_graph_html"><div class="ttname"><a href="structg2o_1_1_optimizable_graph.html">g2o::OptimizableGraph</a></div><div class="ttdoc">This is an abstract class that represents one optimization problem. </div><div class="ttdef"><b>Definition:</b> optimizable_graph.h:64</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_html"><div class="ttname"><a href="classg2o_1_1_estimate_propagator.html">g2o::EstimatePropagator</a></div><div class="ttdoc">propagation of an initial guess </div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:75</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry_html_a7082664efdadcd6031ab441830cb7ac4"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry.html#a7082664efdadcd6031ab441830cb7ac4">g2o::EstimatePropagator::AdjacencyMapEntry::edge</a></div><div class="ttdeci">OptimizableGraph::Edge * edge() const</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:115</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_html_ac2dcd3169696692ce3f0679235933e8a"><div class="ttname"><a href="classg2o_1_1_estimate_propagator.html#ac2dcd3169696692ce3f0679235933e8a">g2o::EstimatePropagator::_graph</a></div><div class="ttdeci">OptimizableGraph * _graph</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:171</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_cost_html_a49846dd23f5d49df6e1fc5c2ff854fca"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_cost.html#a49846dd23f5d49df6e1fc5c2ff854fca">g2o::EstimatePropagatorCost::name</a></div><div class="ttdeci">virtual const char * name() const</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:54</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_cost_odometry_html_a6e610e7413e8973453943c5b4b9423aa"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_cost_odometry.html#a6e610e7413e8973453943c5b4b9423aa">g2o::EstimatePropagatorCostOdometry::name</a></div><div class="ttdeci">virtual const char * name() const</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:69</div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry_html_a3558503af9d9f56088ff1593398f86d4"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_1_1_adjacency_map_entry.html#a3558503af9d9f56088ff1593398f86d4">g2o::EstimatePropagator::AdjacencyMapEntry::_distance</a></div><div class="ttdeci">double _distance</div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:123</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_vertex_html_a48191960395856d1b686287489e53da3"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_vertex.html#a48191960395856d1b686287489e53da3">g2o::HyperGraph::Vertex::id</a></div><div class="ttdeci">int id() const</div><div class="ttdoc">returns the id </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:103</div></div>
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